Image-correspondence position detection device, distance measuring device and apparatus using the same
First Claim
1. An image-correspondence position detecting device comprising:
- an extractor for sampling image data of specific size from a pair of images to obtain a sample image;
a correlation calculator for creating a correlation value row by calculating correlation values representing the degree of correspondence between a pair of sample images while sequentially shifting the sampling position from at least one of the images, and for calculating minimum or maximum positions of correspondence values among the correlation value row which represents an integer correspondence position representing a sampling position of optimum degree of correspondence, and for interpolating between the correlation values and calculates a minimum value or maximum value which represents a decimal correspondence position having the optimum degree of correspondence;
measured correlation value calculator for calculating the measured correlation value of a partial correlation value for an optional partial area smaller than the sampling image, which is an area corresponding to each sampling image at the integer correspondence position;
estimated correlation value calculator for calculating an estimated correlation value of a partial correlation value from the difference between the integer correspondence position and the decimal correspondence position in the partial area based on the assumption that each sampling image is uniformly shifted in each pixel; and
correspondence degree calculator for calculating the degree of correspondence between optional pixels in the partial area from the measured correlation value and the estimated correlation value.
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Accused Products
Abstract
An image-correspondence position detection device comprising an extractor 12 for extracting a sampling image of specific size from a pair of images, correlation calculator 114 for generating a correlation value line and calculating an integer correlation position and a decimal correlation position while sequentially shifting the extraction position, measured correlation value calculator 118 for calculating a measured correlation value for a partial area at the integer correlation position, estimated correlation value calculator 116 for calculating an estimated correlation value assuming uniform shifting in each pixel of similar sampling images by the difference between the integer correlation position and the decimal correlation position for the partial area, and a correspondence degree calculator 120 for calculating the degree of correspondence between pixels in the partial area from the measured correlation value and the estimated correlation value.
33 Citations
15 Claims
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1. An image-correspondence position detecting device comprising:
-
an extractor for sampling image data of specific size from a pair of images to obtain a sample image;
a correlation calculator for creating a correlation value row by calculating correlation values representing the degree of correspondence between a pair of sample images while sequentially shifting the sampling position from at least one of the images, and for calculating minimum or maximum positions of correspondence values among the correlation value row which represents an integer correspondence position representing a sampling position of optimum degree of correspondence, and for interpolating between the correlation values and calculates a minimum value or maximum value which represents a decimal correspondence position having the optimum degree of correspondence;
measured correlation value calculator for calculating the measured correlation value of a partial correlation value for an optional partial area smaller than the sampling image, which is an area corresponding to each sampling image at the integer correspondence position;
estimated correlation value calculator for calculating an estimated correlation value of a partial correlation value from the difference between the integer correspondence position and the decimal correspondence position in the partial area based on the assumption that each sampling image is uniformly shifted in each pixel; and
correspondence degree calculator for calculating the degree of correspondence between optional pixels in the partial area from the measured correlation value and the estimated correlation value.
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2. A distance measuring device comprising:
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a pair of optical systems for forming a pair of object images;
a pair of image sensing elements provided near the image forming position of each optical system;
an extractor for sampling image data of specific size from a pair of images on said image sensing elements to obtain a sample image;
a correlation calculator for creating a correlation value row by calculating correlation values representing the degree of correspondence between a pair of sample images while sequentially shifting the sampling position from at least one of the images, and for calculating minimum or maximum positions of correspondence values among the correlation value row which represents an integer correspondence position representing a sampling position of optimum degree of correspondence, and for interpolating between the correlation values and calculates a minimum value or maximum value which represents a decimal correspondence position having the optimum degree of correspondence;
a measured correlation value calculator for calculating the measured correlation value of a partial correlation value for an optional partial area smaller than the sampling image, which is an area corresponding to each sampling image at the integer correspondence position;
an estimated correlation value calculator for calculating an estimated correlation value of a partial correlation value from the difference between the integer correspondence position and the decimal correspondence position in the partial area based on the assumption that each sampling image is uniformly shifted in each pixel;
a correspondence degree calculator for calculating the degree of correspondence between optional pixels in the partial area from the measured correlation value and the estimated correlation value;
a distance calculator for calculating a distance based on the integer correspondence position and a decimal correspondence position; and
a discriminator for discriminating whether the degree of correspondence is good or poor by comparing for each pixel a specific value and the degree of correspondence, so that if the degree is discriminated as poor, the pixel is determined unmeasurable, and if the degree is discriminated as good, the distance measurement data is adopted. - View Dependent Claims (3, 4)
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5. An image-correspondence position detection device comprising:
-
an extractor for extracting data of images A′ and
B′
while sequentially shifting the sampling position of at least one image among a pair of images A and B including a plurality of pixel rows arranged unidimensionally;
correlation calculator for calculating correlation values of only a specific number of samples to generate a correlation value row f(j);
an interpolator for obtaining a sampling position having the highest correlation to a decimal value d between pixels by interpolating the correlation values from the generated correlation value row f(j); and
an image correlation degree calculator for calculating the degree of correlation dYi of optional pixels in images A′ and
B′
by the following formula,dYi=|Yi−
Yi′
|
(1) Yi=PAi−
PBi
(2) Yi′
=Ci×
δ
(3) δ
=d (where d≦
0.5) or 1−
d (where d>
0.5)
(4) Ci=|PAi−
PAi+1|
(5)where PAi and PBi are data of the number i optional pixels of A′ and
B′
in the combination of A′ and
B′
having the smallest correspondence values f(j).
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-
6. An image-correspondence position detection device comprising:
-
an extractor for extracting data of images A′ and
B′
while sequentially shifting the sampling position of at least one image among a pair of images A and B including a plurality of pixel rows arranged unidimensionally;
correlation calculator for calculating correlation values of only a specific number of samples to generate a correlation value row f(j);
an interpolator for obtaining a sampling position having the highest correlation to a decimal value d between pixels by interpolating the correlation values from the generated correlation value row f(j); and
an image correlation degree calculator for calculating the degree of correlation dYi of optional pixels in images A′ and
B′
by the following formula,dYi=|Yi−
Yi′
|
(1) Yi=PAi−
PBi
(2) Yi′
=Ci×
δ
(3) δ
=d (where d≦
0.5) or 1−
d (where d>
0.5)
(4) Ci=|PAi−
1−
PAi+1|/2
(5a)where PAl and PBi are data of the number i optional pixels of A′ and
B′
in the combination of A′ and
B′
having the smallest correspondence values f(j).
-
-
7. An image-correspondence position detection device comprising:
-
an extractor for extracting data of images A′ and
B′
while sequentially shifting the sampling position of at least one image among a pair of images A and B including a plurality of pixel rows arranged unidimensionally;
correlation calculator for calculating correlation values of only a specific number of samples to generate a correlation value row f(j);
an interpolator for obtaining a sampling position having the highest correlation to a decimal value d between pixels by interpolating the correlation values from the generated correlation value row f(j); and
an image correlation degree calculator for calculating the degree of correlation dYi of optional pixels in images A′ and
B′
by the following formula,dYi=|Yi−
Yi′
|
(1) Yi=PAi−
PBi
(2) Yi′
=Ci×
δ
(3) δ
=d (where d≦
0.5) or 1−
d (where d>
0.5)
(4) Ci=(PAi−
1−
PAl+1) /2+(PBi−
1−
PBi+1)/2|/2
(5b)where PAi and PBi are data of the number i optional pixels of A′ and
B′
in the combination of A′ and
B′
having the smallest correspondence values f(j).
-
-
8. An image-correspondence position detecting device comprising:
-
an extractor for sampling image data of specific size from a pair of images to obtain a sample image;
a correlation calculator for creating a correlation value row by calculating correlation values representing the degree of correspondence between a pair of sample images while sequentially shifting the sampling position from at least one of the images, and for calculating minimum or maximum positions of correspondence values among the correlation value row which represents an integer correspondence position representing a sampling position of optimum degree of correspondence, and for interpolating between the correlation values and calculates a minimum value or maximum value which represents a decimal correspondence position having the optimum degree of correspondence;
measured correlation value calculator for calculating the measured correlation value of a partial correlation value for an optional partial area smaller than the sampling image, which is an area corresponding to each sampling image at the integer correspondence position;
estimated correlation value calculator for calculating an estimated correlation value of a partial correlation value from the difference between the integer correspondence position and the decimal correspondence position in the partial area based on the assumption that each sampling image is uniformly shifted in each pixel;
correspondence degree calculator for calculating the degree of correspondence between optional pixels in the partial area from the measured correlation value and the estimated correlation value; and
a reliability evaluation value calculator for calculating a reliability evaluation value for evaluating the reliability of the sampling image at the integer correspondence position from the degree of correspondence and the change in luminance of the object in the sampling image at the integer correspondence position. - View Dependent Claims (9)
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-
10. An image-correspondence position detection device comprising:
-
an extractor for extracting data of images A′ and
B′
while sequentially shifting the sampling position of at least one image among a pair of images A and B including a plurality of pixel rows arranged unidimensionally;
correlation calculator for calculating correlation values of only a specific number of samples to generate a correlation value row f(j);
an interpolator for obtaining a sampling position having the highest correlation to a decimal value d between pixels by interpolating the correlation values from the generated correlation value row f(j); and
a reliability evaluation value calculator for calculating a reliability evaluation value SY/C for evaluating the degree of correspondence at the correspondence positions of images A′ and
B′
by the following formula,SY/C=Σ
|Yi−
Yi′
|Σ
Ci
(11) Yi=PAi−
PBi
(12) Yi′
=Cii×
δ
(13) δ
=d (where d≦
0.5) or 1−
d (where d>
0.5)
(14) Ci=PAi−
PA1+1|
(15)where, PAi and PBi are data of optional number i pixels of images A′ and
B′
in the combination of A′
, B′
having the smallest correlation value f(j), andwhere, the Σ
s are the sum of i=0, 1, . . . , Np, and Np is the number of pixels included in image A′
. - View Dependent Claims (11)
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-
12. An image-correspondence position detection device comprising:
-
an extractor for extracting data of images A′ and
B′
while sequentially shifting the sampling position of at least one image among a pair of images A and B including a plurality of pixel rows arranged unidimensionally;
correlation calculator for calculating correlation values of only a specific number of samples to generate a correlation value row f(j);
an interpolator for obtaining a sampling position having the highest correlation to a decimal value d between pixels by interpolating the correlation values from the generated correlation value row f(j); and
a reliability evaluation value calculator for calculating a reliability evaluation value SY/C for evaluating the degree of correspondence at the correspondence positions of images A′ and
B′
by the following formula,SY/C=Σ
|Yi−
Yi′
|Σ
Ci
(11) Yi=PAi−
PBi
(12) Yi′
=Cii×
δ
(13) δ
=d (where d≦
0.5) or 1−
d (where d>
0.5)
(14) Ci=PAi−
PA1+1|
(15) Ci=|PAi−
1−
PAi+1|/2
(15a)where, PAi and PBl are data of optional number i pixels of images A′ and
B′
in the combination of A′
, B′
having the smallest correlation value f(j), andwhere, the Σ
s are the sum of i=0, 1, . . . , Np, and Np is the number of pixels included in image A′
. - View Dependent Claims (13)
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-
14. An image-correspondence position detection device comprising:
-
an extractor for extracting data of images A′ and
B′
while sequentially shifting the sampling position of at least one image among a pair of images A and B including a plurality of pixel rows arranged unidimensionally;
correlation calculator for calculating correlation values of only a specific number of samples to generate a correlation value row f(j);
an interpolator for obtaining a sampling position having the highest correlation to a decimal value d between pixels by interpolating the correlation values from the generated correlation value row f(j); and
a reliability evaluation value calculator for calculating a reliability evaluation value SY/C for evaluating the degree of correspondence at the correspondence positions of images A′ and
B′
by the following formula,SY/C=Σ
|Yi−
Yi′
|Σ
Ci
(11) Yi=PAi−
PBi
(12) Yi′
=Cii×
δ
(13) δ
=d (where d≦
0.5) or 1−
d (where d>
0.5)
(14) Ci=PAi−
PA1+1|
(15) Ci=|(PAi−
1−
PAi+1) /2+(PBi−
1−
PBi+1) /2|/2
(15b)where, PAi and PBi are data of optional number i pixels of images A′ and
B′
in the combination of A′
, B′
having the smallest correlation value f(j), andwhere, the Σ
s are the sum of i=0, 1, . . . , Np, and Np is the number of pixels included in image A′
. - View Dependent Claims (15)
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Specification